Model of a pipe robot with limited interactions

Abstract

Nonlinear interactions between the exciting mass and the case of a pipe robot are important in order to prevent impacts of the exciting mass with the case of the pipe robot. Those impacts lead to deterioration of operation of a pipe robot and even may lead to destruction of some parts of the robot. Model for the analysis of dynamics of a pipe robot with limited interactions is proposed in this paper. For this purpose, a special expression of nonlinear stiffness is used. Results of investigations for various parameters of the system are presented.